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"URDF/COLLADA file is not a valid robot model" when loading IRB4600 in MoveIt Setup Assistant

asked 2018-04-24 04:19:54 -0500

AndyChou007 gravatar image

updated 2018-04-24 11:04:40 -0500

I found that all the support pkg under abb kinetic-devel could be open in MoveIt Setup Assistant while all the support pkg under abb_experimental kinetic-devel cannot be open with the notice

"URDF/COLLADA file is not a valid robot model"

and I checked the difference between the two big pkgs and then found that the abb kinetic-devel pkg includes abb_driver and abb_source while abb_experimental kinetic-devel doesn't have.

So I copy the 4600 pkg into the abb kinetic-devel pkg in order to share the abb_driver and abb_source (4400L_30_43.xacro has used the material config in abb_source), but it still cannot be open by MoveIt Setup Assistant.

BTW, I need the irb4600_60_205_moveit_config file to control the manipulator in robotstudio by plan and execute in Rviz. Shall I config the abb_experimental kinetic-devel after downloading it?


Edit: Here are my handle details

image description image description image description

andy@andy-zhaoyang-k42-80:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro kinetic
#All required rosdeps installed successfully

andy@andy-zhaoyang-k42-80:~/catkin_ws$ catkin_make
Base path: /home/andy/catkin_ws
Source space: /home/andy/catkin_ws/src
Build space: /home/andy/catkin_ws/build
Devel space: /home/andy/catkin_ws/devel
Install space: /home/andy/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/andy/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/andy/catkin_ws/build"
####
[  0%] Built target trajectory_msgs_generate_messages_nodejs
[  0%] Built target _industrial_msgs_generate_messages_check_deps_DeviceInfo
[  0%] Built target _industrial_msgs_generate_messages_check_deps_StartMotion
[  0%] Built target _industrial_msgs_generate_messages_check_deps_SetRemoteLoggerLevel
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target _industrial_msgs_generate_messages_check_deps_RobotMode
[  0%] Built target _industrial_msgs_generate_messages_check_deps_DebugLevel
[  0%] Built target _industrial_msgs_generate_messages_check_deps_CmdJointTrajectory
[  0%] Built target _industrial_msgs_generate_messages_check_deps_GetRobotInfo
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[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target _industrial_msgs_generate_messages_check_deps_SetDrivePower
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[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_matrix33
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[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_wifi
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_pressure_raw
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_vision_of
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_raw_measures
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_games
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_hdvideo_stream
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_watchdog
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_video_stream
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_time
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_vision_raw
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_FlightAnim
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_zimmu_3000
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_trackers_send
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[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_altitude
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_wind_speed
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_pwm
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_Navdata
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_LedAnim
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_vision
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_vision_detect
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_adc_data_frame
[  1%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_kalman_pressure
[  2%] Performing update step for 'ardronelib'
[  2%] Built target _ardrone_autonomy_generate_messages_check_deps_vector21
[  2%] Built target industrial_utils
[  2%] Built target _ardrone_autonomy_generate_messages_check_deps_navdata_trims
[  2%] Built target industrial_robot_client_dummy
[  2%] Performing configure step for 'ardronelib'
No configure
[  2%] Performing build step for 'ardronelib'
[  5%] Built target industrial_msgs_generate_messages_nodejs
make[3]: warning: jobserver unavailable: using ...
(more)
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Please do not post answers, unless you are answering your own question. This is not a forum, but a Q&A site.

In the future, edit your original question, using the edit button/link.

Thanks.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:52:45 -0500 )edit

Note: your images are not visible. Please reattach them.

But please do not post images of terminals: copy-paste the text from the terminal into your question.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:54:12 -0500 )edit

1 Answer

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answered 2018-04-24 04:25:33 -0500

gvdhoorn gravatar image

updated 2018-04-24 11:11:15 -0500

I believe this is a matter of missing dependencies (in this case probably abb_resources, the driver is not used when loading the xacro in the Setup Assistant).

Please see #q252478 for the general procedure of building packages from sources in ROS.

For your case specifically, please see the Installation section on ros/wiki/abb_experimental.

Please don't copy files or directories from one package/repository to another. It should not be needed and can lead to conflicts later on.


Edit1: I think something is not correct in your workspace setup: the CMakeFiles directory and the CMakeCache.txt file should not be in catkin_ws/src.

Please make sure your workspace setup is correct:

  • remove catkin_ws/build and catkin_ws/devel
  • remove src/CMakeFiles and src/CMakeCache.txt
  • open a new terminal
  • source /opt/ros/kinetic/setup.bash
  • cd $HOME/catkin_ws
  • catkin_make
  • source $HOME/catkin_ws/devel/setup.bash

Then try:

roslaunch abb_irb4600_support test_irb4600_60_205.launch

If that works, try:

roslaunch moveit_setup_assistant setup_assistant.launch

from the same terminal.

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Comments

I have checked the process of installation by referring the wiki.ros.org/abb_experimental and without any errors. But I could not find irb_4600 relative file under opt/ros/kinetic/share, it means I install the pkg failed? And I still can open the xacro file by MoveIt Setup Assistant.

AndyChou007 gravatar imageAndyChou007 ( 2018-04-24 10:24:44 -0500 )edit

Besides, the xacro file of irb_4600 doesn't rely on abb_resources while irb_4400 does, maybe it is not a matter of missing dependencies, but a matter of Couldn't find executable named irb4600_60_205.xacro below /opt/ros/kinetic/share/xacro.I just don't know where I make a error during instal

AndyChou007 gravatar imageAndyChou007 ( 2018-04-24 10:29:33 -0500 )edit

All the xacros stay in your workspace, they are not installed to /opt/ros/...

And I still can open the xacro file by MoveIt Setup Assistant.

I assume you meant to write: I can't open the xacro file?

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:29:53 -0500 )edit

yes. I can't open the all the xacro files under abb_experimental but can open all the xacro files under abb pkg

AndyChou007 gravatar imageAndyChou007 ( 2018-04-24 10:32:29 -0500 )edit

I think I'm going to need much more information from you.

Please describe in detail how you setup your workspace, which directories are in it, which steps you followed, etc. You did follow the instructions on the abb_experimental wiki page?

Please show the exact error you see (copy-paste).

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:39:57 -0500 )edit

I just checked on a test system (Ubuntu Trusty, ROS Indigo), and I can successfully open the IRB4600 xacro in the setup assistant after following the instructions on the wiki page.

You mention a problem with xacro: do you have the package installed? What is the output of dpkg -l | grep xacro?

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:41:12 -0500 )edit

andy@andy-zhaoyang-k42-80:~/catkin_ws/src$ dpkg -l | grep xacro

ii ros-kinetic-xacro 1.11.3-0xenial-20180328-045553-0800 amd64 Xacro (XML Macros) Xacro is an XML macro language.

AndyChou007 gravatar imageAndyChou007 ( 2018-04-24 10:51:11 -0500 )edit

Where is the error message? I don't see any output of the loading procedure of the MoveIt Setup Assistant.

Also: in which catkin workspace are the ABB packages located? I don't see any of the ABB robot support pkgs listed in the catkin_make output. Is that a different workspace?

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:54:34 -0500 )edit

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Asked: 2018-04-24 04:19:54 -0500

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Last updated: Apr 24 '18